This　article　studies　the　finite-time　formation　control　problem　for　networked　nonholonomic　mobile　robots　(NMRs)　under　denial-of-service　(DoS)　attacks.　The　communication　signals　are　transmitted　among　topology-connected　NMRs　by　threatened　networks,　which　might　be　disconnected　or　recovered　at　any　time　due　to　DoS　attacks.　Under　DoS　attacks,　the　received　discontinuous　date　packets　resulting　from　the　directed　graph　might　make　the　formation　error　escape　to　an　unknown　boundary.　In　addition,　it　is　demonstrated　that　the　frequency　of　DoS　attacks　directly　affects　the　convergence　time　of　controllers.　A　novel　distributed　observer　is　developed　for　each　follower　to　narrow　the　unknown　boundary,　in　which　a　projection　operation　is　used　to　restrain　the　estimation　of　state　with　a　known　bounded　set.　An　event-triggered　mechanism　is　developed　for　each　follower　to　identify　the　intermittent　DoS　attacks　by　verifying　the　time　stamps　of　the　received　data　packets.　To　reduce　the　effects　of　the　attacker　on　the　closed-loop　system,　a　finite-time　formation　controller　is　proposed　to　guarantee　formation　convergence　to　the　desired　position　in　every　duration　of　DoS　attack-shut,　preventing　formation　error　accumulation.　The　Lyapunov　tools　are　utilized　to　derive　the　conditions　for　guaranteeing　the　finite-time　formation　convergence　under　DoS　attacks　subject　to　a　certain　frequency.　It　is　proved　that　the　state　estimation　errors　and　formation　errors　can　be　regulated　to　the　neighborhoods　of　origin　in　every　duration　of　DoS　attacks　shut.　The　DoS　attack　and　distributed　DoS　attack　examples　are　provided　to　illustrate　the　correctness　and　performance　of　the　proposed　method　for　networked　NMRs　through　numerical　simulation　comparisons.